Method and apparatus for testing operation and control accuracy of driving control system in unmanned vehicle

• US 10,046,771 B2
• Filed: 02/06/2017
• Issued: 08/14/2018
• Est. Priority Date: 07/28/2016
• Status: Active Grant

• Current Assignee: Beijing Baidu Netcom Science and Technology Company Limited (Baidu Incorporated)
• Original Assignee: Beijing Baidu Netcom Science and Technology Company Limited (Baidu Incorporated)
• Inventors: Wu, Yi
• Primary Examiner(s): Frejd, Russell
• Application Number:
  US15/425,556
• Publication Number:
  US 20180029605A1
• Time in Patent Office: 554 Days
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2552/00 Input parameters relating to infrastructure
• CPC Class Codes: B60W 2552/05 Type of road, e.g. motorways, local streets, paved or unpaved roads
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2555/60 Traffic rules, e.g. speed limits or right of way
• CPC Class Codes: B60W 2556/00 Input parameters relating to data
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 30/18009 related to particular drive situations
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: B60W 50/04 Monitoring the functioning of the control system
• CPC Class Codes: B60W 60/001 Planning or execution of driving tasks
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface

Abstract

Disclosed is a method and an apparatus for testing operation and control accuracy of a driving control system in an unmanned vehicle. The method comprises determining an operation and control track length when the unmanned vehicle is operated and controlled by the driving control system in the unmanned vehicle, based on obtained traveling data information; determining a standard operation and control distance when the driving control system operates and controls the unmanned vehicle, based on a preset operation and control accuracy test standard; and comparing the operation and control track length with the standard operation and control distance to determine a test result of the operation and control accuracy of the driving control system.

Claims

1. A method for testing operation and control accuracy of a driving control system in an unmanned vehicle, the method comprising:

determining an operation and control track length when the unmanned vehicle is operated and controlled by the driving control system in the unmanned vehicle, based on obtained traveling data information;

determining a standard operation and control distance when the driving control system operates and controls the unmanned vehicle, based on a preset operation and control accuracy test standard; and

comparing the operation and control track length with the standard operation and control distance to determine a test result of the operation and control accuracy of the driving control system.

2. The method according to claim 1, wherein the operation and control accuracy test standard is set by:

determining a standard response time when the driving control system operates and controls the unmanned vehicle; and

determining the standard operation and control distance corresponding to a traveling speed value based on the standard response time to obtain the operation and control accuracy test standard.

3. The method according to claim 2, wherein the determining the standard operation and control distance corresponding to a traveling speed value based on the standard response time comprises:

setting a calculation formula for the standard operation and control distance D=V*t, wherein D is the standard operation and control distance corresponding to a traveling speed value, V is a traveling speed value, t is the standard response time when the driving control system operates and controls the unmanned vehicle; and

determining the standard operation and control distance corresponding to the traveling speed value based on the calculation formula, the standard response time and at least one traveling speed value.

4. The method according to claim 1, wherein the determining the operation and control track length when the unmanned vehicle is operated and controlled by the driving control system in the unmanned vehicle, based on the obtained traveling data information, comprises:

determining a starting track point corresponding to when a change in a current road environment is detected by the driving control system in the unmanned vehicle, and an ending track point corresponding to when the driving control system operates and controls the unmanned vehicle by sending an operating and controlling command, based on the obtained traveling data information of the unmanned vehicle; and

recording a track length between the starting track point and the ending track point as the operation and control track length for operating and controlling the unmanned vehicle.

5. The method according to claim 1, wherein the determining the standard operation and control distance when the driving control system operates and controls the unmanned vehicle, based on the preset operation and control accuracy test standard, comprises:

determining a current traveling speed value of the unmanned vehicle when the driving control system detects the change in a current road environment, based on the traveling data information of the unmanned vehicle; and

determining a corresponding standard operation and control distance of the current traveling speed value in the operation and control accuracy test standard, to determine a currently corresponding standard operation and control distance of the driving control system.

6. The method according to claim 5, wherein operation and control operations executed by the driving control system to the unmanned vehicle include parking operation and control, lane holding operation and control, and turning operation and control.

7. An apparatus for testing operation and control accuracy of a driving control system in an unmanned vehicle, the apparatus comprising:

at least one processor; and

a memory storing instructions, which when executed by the at least one processor, cause the at least one processor to perform operations, the operations comprising;

determining an operation and control track length when the unmanned vehicle is operated and controlled by the driving control system in the unmanned vehicle, based on obtained traveling data information;

determining a standard operation and control distance when the driving control system operates and controls the unmanned vehicle, based on a preset operation and control accuracy test standard; and

comparing the operation and control track length with the standard operation and control distance to determine a test result of the operation and control accuracy of the driving control system.

8. The apparatus according to claim 7, further comprising operations to set the operation and control accuracy test standard:

determining a standard response time when the driving control system operates and controls the unmanned vehicle; and

determining the standard operation and control distance corresponding to a traveling speed value based on the standard response time to obtain the operation and control accuracy test standard.

9. The apparatus according to claim 8, wherein the determining the standard operation and control distance corresponding to a traveling speed value based on the standard response time comprises:

setting a calculation formula for the standard operation and control distance D=V*t, wherein D is the standard operation and control distance corresponding to a traveling speed value, V is a traveling speed value, t is the standard response time when the driving control system operates and controls the unmanned vehicle; and

determining the standard operation and control distance corresponding to the traveling speed value based on the calculation formula, the standard response time and at least one traveling speed value, to obtain the operation and control accuracy test standard.

10. The apparatus according to claim 7, wherein the determining the operation and control track length when the unmanned vehicle is operated and controlled by the driving control system in the unmanned vehicle, based on the obtained traveling data information, comprises:

determining a starting track point corresponding to when a change in a current road environment is detected by the driving control system in the unmanned vehicle, and an ending track point corresponding to when the driving control system operates and controls the unmanned vehicle by sending an operating and controlling command, based on the traveling data information of the unmanned vehicle obtained; and

recording a track length between the starting track point and the ending track point as the operation and control track length for operating and controlling the unmanned vehicle.

11. The apparatus according to claim 7, wherein the determining the standard operation and control distance when the driving control system operates and controls the unmanned vehicle, based on the preset operation and control accuracy test standard, comprises:

determining a current traveling speed value of the unmanned vehicle when the driving control system detects the change in a current road environment, based on the traveling data information of the unmanned vehicle; and

determining a corresponding standard operation and control distance of the current traveling speed value in the operation and control accuracy test standard, to determine a currently corresponding standard operation and control distance of the driving control system.

12. The apparatus according to claim 11, wherein operating and controlling operations executed by the driving control system to the unmanned vehicle include parking operation and control, lane holding operation and control, and turning operation and control.

13. A non-transitory computer storage medium storing a computer program, which when executed by one or more processors, cause the one or more processors to perform operations, the operations comprising:

determining an operation and control track length when the unmanned vehicle is operated and controlled by the driving control system in the unmanned vehicle, based on obtained traveling data information;

determining a standard operation and control distance when the driving control system operates and controls the unmanned vehicle, based on a preset operation and control accuracy test standard; and

comparing the operation and control track length with the standard operation and control distance to determine a test result of the operation and control accuracy of the driving control system.

14. The non-transitory computer storage medium according to claim 13, wherein the operation and control accuracy test standard is set in a method comprising:

determining a standard response time when the driving control system operates and controls the unmanned vehicle; and

determining the standard operation and control distance corresponding to a traveling speed value based on the standard response time to obtain the operation and control accuracy test standard.

15. The non-transitory computer storage medium according to claim 14, wherein the determining the standard operation and control distance corresponding to a traveling speed value based on the standard response time comprises:

setting a calculation formula for the standard operation and control distance D=V*t, wherein D is the standard operation and control distance corresponding to a traveling speed value, V is a traveling speed value, t is the standard response time when the driving control system operates and controls the unmanned vehicle; and

determining the standard operation and control distance corresponding to the traveling speed value based on the calculation formula, the standard response time and at least one traveling speed value.

16. The non-transitory computer storage medium according to claim 13, wherein the determining the operation and control track length when the unmanned vehicle is operated and controlled by the driving control system in the unmanned vehicle, based on the obtained traveling data information, comprises:

determining a starting track point corresponding to when a change in a current road environment is detected by the driving control system in the unmanned vehicle, and an ending track point corresponding to when the driving control system operates and controls the unmanned vehicle by sending an operating and controlling command, based on the obtained traveling data information of the unmanned vehicle; and

recording a track length between the starting track point and the ending track point as the operation and control track length for operating and controlling the unmanned vehicle.

17. The non-transitory computer storage medium according to claim 13, wherein the determining the standard operation and control distance when the driving control system operates and controls the unmanned vehicle, based on the preset operation and control accuracy test standard, comprises:

determining a current traveling speed value of the unmanned vehicle when the driving control system detects the change in a current road environment, based on the traveling data information of the unmanned vehicle; and

determining a corresponding standard operation and control distance of the current traveling speed value in the operation and control accuracy test standard, to determine a currently corresponding standard operation and control distance of the driving control system.

18. The non-transitory computer storage medium according to claim 17, wherein operation and control operations executed by the driving control system to the unmanned vehicle include parking operation and control, lane holding operation and control, and turning operation and control.